# order is:
# Heading
# Position
# Orientation
# Velocity
# AngularVelocity

# Relative Orientation
# Relative Angular Velocity
#----------------

# Heading
0.005977

# Root(body)
0 0.798045 0
0.979118 0.200787 -0.000000 0.031809
-0.021703 0.011136 1.752287
-0.075686 -0.902619 -0.875645

# body_neck
0.956264 0.292368 0.003358 0.008331
0.510889 0.544175 -0.537353

# lHip
0.987826 -0.046027 -0.034669 -0.144495
-2.844945 1.598597 1.190491

# rHip
0.993628 0.076971 -0.044554 0.069238
0.770826 0.574346 0.288509

# neck_head
0.949287 -0.298537 -0.093151 -0.032437
-0.068881 -0.718848 -0.007193

# lKnee
0.803603 -0.595165 -0.000001 -0.000002
5.281145 -0.001268 -0.000689

# rKnee
0.967992 -0.250982 0.000000 -0.000000
1.626157 0.000086 -0.000199

# lAnkle
0.988856 0.148820 -0.000584 -0.003882
-3.941331 0.030750 0.013550

# rAnkle
0.990508 0.126724 -0.006756 -0.052815
-0.018537 0.002581 1.120145

